scholarly journals Performance Evaluation of Offline Motion Preparation Approaches on the Example of a Non-Linear Kinematics

2020 ◽  
Vol 10 (22) ◽  
pp. 8014
Author(s):  
Olaf Holowenko ◽  
Lucas Drowatzky ◽  
Steffen Ihlenfeldt
Keyword(s):  
High Performance ◽  
Recursive Algorithm ◽  
Simple Approach ◽  
Process Stability ◽  
Computing Effort ◽  
Complex Calculation ◽  
Non Linear ◽  
The One ◽  
Is Outsourcing ◽  
Real Machine

In motion control, the generation of motion profiles for non-linear kinematics is usually computationally complex. In order to minimize the workload on the machine’s control system, the approach pursued is outsourcing complex calculation tasks to the offline area. In this offline motion preparation, predefined criteria have to be taken into account to guarantee process stability on the real machine. During the motion preparation, a high performance is desired, characterized by less data generated and at the same time little computing effort. The evaluation will use the example of a motion specification, which is characterized by a large amount of data compared to conventional motion specifications. Thus, the demands on performance become even higher. This paper examines the performance of different motion preparation approaches known from literature. On the one hand, selected spline-based algorithms are discussed and compared. A recursive algorithm based on monomial splines is recommended for use in the example. On the other hand, a very simple approach based on the linearization of the non-linear workspace of the mechanism is presented and applied on the algorithms. With this, the performance increased significantly again.

Robust adaptive fuzzy control application to uncertain non-linear systems in robotics

2002 ◽  
Vol 216 (3) ◽  
pp. 225-235 ◽  
Author(s):  
A Hamzaoui ◽  
A Elkari ◽  
J Zaytoon
Keyword(s):  
Fuzzy Control ◽  
High Performance ◽  
Fuzzy Controller ◽  
Adaptive Fuzzy Control ◽  
Adaptive Fuzzy ◽  
Non Linear ◽  
Robust Adaptive ◽  
The One ◽  
Non Linear System ◽  
Control Application

In this paper the problem of tracking of a non-linear system in the presence of external disturbances is analysed. An adaptive fuzzy controller is proposed to improve performance of an H∞ tracking problem. The proposed approach benefits from the high performance of H∞ on the one hand, and the intuitive ‘smart’ approach of fuzzy control on the other. An example of a two-link manipulator is used for illustration.

A Simple Approach to the One-Pot Three Component Synthesis of 4Hpyrimido [2,1-b] benzothiazole Derivatives Using Polyethylene Glycol (PEG-400)

2015 ◽  
Vol 12 (3) ◽  
pp. 197-204 ◽  
Author(s):  
Prabhakar Rairala ◽  
Bandi Yadagiri ◽  
Rajashaker Bantu ◽  
Vijayacharan Guguloth ◽  
Lingaiah Nagarapu
Keyword(s):  
Polyethylene Glycol ◽  
Simple Approach ◽  
One Pot ◽  
Benzothiazole Derivatives ◽  
Peg 400 ◽  
The One

scholarly journals A simple approach to prepare fluorescent molecularly imprinted nanoparticles

RSC Advances ◽  
2021 ◽  
Vol 11 (13) ◽  
pp. 7732-7737
Author(s):  
Fenying Wang ◽  
Dan Wang ◽  
Tingting Wang ◽  
Yu Jin ◽  
Baoping Ling ◽  
...  
Keyword(s):  
High Performance ◽  
Low Cost ◽  
Sol Gel ◽  
Silica Sol ◽  
Simple Approach ◽  
Imprinted Polymer ◽  
Molecularly Imprinted ◽  
Low Toxicity ◽  
Good Biocompatibility ◽  
Molecularly Imprinted Nanoparticles

Fluorescent molecularly imprinted polymer (FMIP) gains great attention in many fields due to their low cost, good biocompatibility and low toxicity. Here, a high-performance FMIP was prepared based on the autocatalytic silica sol–gel reaction.

scholarly journals Comparative Study of the Field Performances of Pressure-Grouted Micropiles Using Gravity and Packers

2021 ◽  
Vol 11 (15) ◽  
pp. 6736
Author(s):  
Ong Heo ◽  
Yeowon Yoon ◽  
Jinung Do
Keyword(s):  
Urban Areas ◽  
High Performance ◽  
Driving Forces ◽  
Field Performance ◽  
Underground Space ◽  
Creep Tests ◽  
Deep Foundation ◽  
Installation Depth ◽  
Pressure Grouting ◽  
The One

When underground space requires excavation in areas below the water table, the foundation system suffers from buoyancy, which leads to the uplifting of the superstructure. A deep foundation system can be used; however, in cases where a hard layer is encountered, high driving forces and corresponding noises cause civil complaints in urban areas. Micropiles can be an effective alternative option, due to their high performance despite a short installation depth. Pressurized grouting is used with a packer to induce higher interfacial properties between micropile and soil. In this study, the field performance of micropiles installed using gravitational grouting or pressure-grouted using either a geotextile packer or rubber packer was comparatively evaluated by tension and creep tests. Micropiles were installed using pressure grouting in weak and fractured zones. As results, the pressure-grouted micropiles showed more stable and stronger behaviors than ones installed using the gravitational grouting. Moreover, the pressure-grouted micropile installed using the rubber packer showed better performance than the one using the geotextile packer.

scholarly journals AFX Zeolite for Use as a Support of NH3-SCR Catalyst Mining through AICE Joint Research Project of Industries–Academia–Academia

Catalysts ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 163
Author(s):  
Masaru Ogura ◽  
Yumiko Shimada ◽  
Takeshi Ohnishi ◽  
Naoto Nakazawa ◽  
Yoshihiro Kubota ◽  
...  
Keyword(s):  
High Performance ◽  
Ionic Species ◽  
Research Project ◽  
Joint Research ◽  
Structure Directing Agent ◽  
Scr Catalyst ◽  
Organic Structure ◽  
Nh3 Scr ◽  
Joint Research Project ◽  
The One

This paper introduces a joint industries–academia–academia research project started by researchers in several automobile companies and universities working on a single theme. Our first target was to find a zeolite for NH3-SCR, that is, zeolite mining. Zeolite AFX, having the same topology of SSZ-16, was found to be the one of the zeolites. SSZ-16 can be synthesized by using an organic structure-directing agent such as 1,1′-tetramethylenebis(1-azonia-4-azabicyclo[2.2.2]octane; Dab-4, resulting in the formation of Al-rich SSZ-16 with Si/Al below five. We found that AFX crystallized by use of N,N,N′,N′-tetraethylbicyclo[2.2.2]oct-7-ene-2,3:5,6-dipyrrolidinium ion, called TEBOP in this study, had the same analog as SSZ-16 having Si/Al around six and a smaller particle size than SSZ-16. The AFX demonstrated a high performance for NH3-SCR as the zeolitic support to load a large number of divalent Cu ionic species with high hydrothermal stability.

scholarly journals Constructing Large-Scale Genetic Maps Using an Evolutionary Strategy Algorithm

Genetics ◽  
2003 ◽  
Vol 165 (4) ◽  
pp. 2269-2282
Author(s):  
D Mester ◽  
Y Ronin ◽  
D Minkov ◽  
E Nevo ◽  
A Korol
Keyword(s):  
Discrete Optimization ◽  
High Performance ◽  
Large Scale ◽  
Simulated Data ◽  
Real Data ◽  
Genetic Maps ◽  
Chromosome 1 ◽  
Evolutionary Strategy ◽  
Group A ◽  
The One

Abstract This article is devoted to the problem of ordering in linkage groups with many dozens or even hundreds of markers. The ordering problem belongs to the field of discrete optimization on a set of all possible orders, amounting to n!/2 for n loci; hence it is considered an NP-hard problem. Several authors attempted to employ the methods developed in the well-known traveling salesman problem (TSP) for multilocus ordering, using the assumption that for a set of linked loci the true order will be the one that minimizes the total length of the linkage group. A novel, fast, and reliable algorithm developed for the TSP and based on evolution-strategy discrete optimization was applied in this study for multilocus ordering on the basis of pairwise recombination frequencies. The quality of derived maps under various complications (dominant vs. codominant markers, marker misclassification, negative and positive interference, and missing data) was analyzed using simulated data with ∼50-400 markers. High performance of the employed algorithm allows systematic treatment of the problem of verification of the obtained multilocus orders on the basis of computing-intensive bootstrap and/or jackknife approaches for detecting and removing questionable marker scores, thereby stabilizing the resulting maps. Parallel calculation technology can easily be adopted for further acceleration of the proposed algorithm. Real data analysis (on maize chromosome 1 with 230 markers) is provided to illustrate the proposed methodology.

scholarly journals A Review on the Development of Rotman Lens Antenna

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Shruti Vashist ◽  
M. K. Soni ◽  
P. K. Singhal
Keyword(s):  
High Performance ◽  
Beam Steering ◽  
Phase Error ◽  
Antenna System ◽  
Surveillance Systems ◽  
Electronic Warfare ◽  
Design Concepts ◽  
Low Profile ◽  
True Time ◽  
The One

Rotman lenses are the beguiling devices used by the beamforming networks (BFNs). These lenses are generally used in the radar surveillance systems to see targets in multiple directions due to its multibeam capability without physically moving the antenna system. Now a days these lenses are being integrated into many radars and electronic warfare systems around the world. The antenna should be capable of producing multiple beams which can be steered without changing the orientation of the antenna. Microwave lenses are the one who support low-phase error, wideband, and wide-angle scanning. They are the true time delay (TTD) devices producing frequency independent beam steering. The emerging printed lenses in recent years have facilitated the advancement of designing high performance but low-profile, light-weight, and small-size and networks (BFNs). This paper will review and analyze various design concepts used over the years to improve the scanning capability of the lens developed by various researchers.

Assisted Study of the Human Force-Power Parameters Influences to the Kinematics Motricities Characteristics

2014 ◽  
Vol 555 ◽  
pp. 665-672
Author(s):  
Adriana Şerban Târgoveţ ◽  
Dragoş Ionescu-Bondoc
Keyword(s):  
High Performance ◽  
Reference Method ◽  
Motor Training ◽  
Propulsive Force ◽  
Specific Technique ◽  
Kinematic Parameters ◽  
Technical Parameters ◽  
The One ◽  
Multimodal Process ◽  
Block Start

During swimming competitions starting from the block-start platform, a potential hypothesis was noticed, through an active multimodal process, which can make the swimming start efficient, especially in the case of sprint races, by improving the propulsive force parameters of the inferior limbs. The swimming start research from interdisciplinary perspective: biomechanical, kinematic, informational and statistical can consolidate and improve the specific technique in accordance with the abilities and psycho-motor qualities of the swimmers. The present study is based on an experiment where the spatial-temporal and kinematic parameters were processed with the help of a Dartfish program. The evolution of parameters is researched as a result of a motor training program with the purpose to increase the propulsive force off the block-start. The improvement of spatial-temporal parameters influences the performance and evolution of technical parameters. Initial and final recordings were made on an MLD Station Evo5 and MLD software MuskelLeistungs Diagnose, fromSPSport, SPSportdiagnosegeräte, in order to evaluate the force, the power and the propulsive force. The argumentation of the experimental research is based on the statement: “the spatial characteristics of the motions and actions can be studied for themselves as parameters, characteristics or as a reference method for defining other characteristics, such as velocity or push-off force [1]. The main purpose of this study is to identify the influences of the specific start training upon the force improvement and kick power of the support foot from the block-start, during the classic track start. Given that the track start technique is the same as the one of the kick start executed from the international block-start of Omega, OSB11, developed in 2009, one assumes that the improvement of the classic track start leads by default to the improvement of the kick start. Lack of training to practice this type of start leads to deficient use during competitions, thus obtaining poor performances. There are no kick block-starts in Romania in order to train high performance athletes participating in international competitions and as a consequence, poor results are obtained at sprint races. One assumes that training for this type of start can be succesfully made only from a block-start similar to the kick one. The block-start model adapted by us under the same biomechanical conditions as the ones of the international kick start, is called “athletic kick”. The training specific to the kick start is carried out only with the optimum use of the kick block-start, the reasons for this being presented by N, Houel, A. Charliac, JL.Rey, Phellardin the paper: “How the swimmer could improve his track start using new Olympic plot” [2].

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